KR20020015526A - Method for generating speed pattern of elevator - Google Patents

Abstract

PURPOSE: A method for generating speed pattern for elevator is provided to allow the speed and accelerated speed to be connected regardless of the operation state of the elevator, when the speed pattern is switched from a time basis to a distance basis. CONSTITUTION: A method comprises a first step(S1,S2) of checking whether the distance to go is the same as the operation stop start point when an elevator car has reached a target point, and starting a deceleration operation if the distance is the same; a second step(S3 to S5) of switching a time basis speed pattern generating mode into a distance basis speed pattern generating mode when the acceleration value has reached a maximum level; a third step(S6 to S9) of switching the pattern into the speed pattern obtained by the expression of ¥ø = kS, wherein k is a gradient and S is a distance, when the distance to go decreases and becomes double of the offset value(Soff); and a fourth step(S10) of stopping the operation of elevator car when the distance to go has reached zero.

Description

Speed pattern generation method of elevator {METHOD FOR GENERATING SPEED PATTERN OF ELEVATOR}

The present invention relates to the speed and position control of the elevator, and more particularly to a method of generating a speed pattern of the elevator to obtain a smooth ride feeling without a sudden change in speed and acceleration near the stop point.

An important factor in a facility for transporting people, such as a baiter, is a comfortable ride along with transport efficiency.

The biggest factor that determines the ride quality is the magnitude and shape of the acceleration of the car.In particular, in the case of an elevator, unlike the general speed and position control system, the acceleration and the corresponding speed pattern, which can be obtained comfortably, are calculated in advance. The speed control of the car is achieved.

The speed pattern generation method which is widely used generally consists of two parts as follows.

First, there is a 'time-based speed pattern' method in which the necessary reference speed / acceleration pattern is predetermined and sequentially generated as time passes when the elevator starts from the stopped state and moves to the target floor.

Secondly, when the car reaches the target position, the vehicle decelerates and stops. In this case, there is a 'distance reference speed pattern' method for generating a speed pattern based on the remaining distance for precise position stop.

That is, when starting, the speed / acceleration pattern of the car is generated by the 'time-based speed pattern' method, and when the stop is generated, the speed / acceleration pattern of the car is generated by the 'distance-based speed pattern' method.

The speed pattern generation method based on the remaining distance allows the smooth stop to be made by setting the speed and acceleration to '0' as soon as the remaining distance becomes '0'.

At this time, it is important that the speed and acceleration are continuously changed when switching from the time-based speed pattern to the distance-based speed pattern, so that a smooth change can be made without impact.

Only then can you get the ride you want.

FIG. 1 is a block diagram showing a schematic configuration of a general elevator speed pattern generating device. As shown therein, a speed pattern Vt of a car is generated by a time t measured by a timer 1 after starting an elevator. A time reference speed pattern generator 2; A distance reference speed pattern generator 4 for calculating the remaining distance to the target floor by the remaining distance calculation unit 3 and generating a speed pattern Vs for stopping the car by the distance S; The speed and acceleration pattern of the car is composed of a speed pattern switching unit 5 for continuously switching from a 'time-based speed pattern' to a 'distance-based speed pattern' without interruption.

Next, FIG. 2 is a block diagram showing a detailed configuration of the time-based speed pattern generator in FIG. 1, and as shown therein, a jerk generator for generating a jerk (da / dt) as time t passes. (2a); An integrator 2b which integrates this to create a reference acceleration a; And an integrator 2c for integrating the reference acceleration a to generate the time reference velocity pattern Vt.

Next, FIG. 3 is a block diagram showing a detailed configuration of the distance-based speed pattern generator in FIG. 1, and calculates the distance S remaining from the target position and the current car position through the remaining distance calculator 3 as shown in FIG. First and second speed pattern calculators 4a and 4b for generating a distance-based speed pattern by predetermined functions; And a switching section 4c for selectively outputting the values output from the speed pattern calculating sections 4a and 4b.

Hereinafter, the operation and action of the device configured as described above will be described with reference to the accompanying drawings.

First, FIG. 4 is a graph showing jerks, accelerations, speed patterns, and the like generated from an elevator starting to stopping.

Once the elevator starts, the reference speed is generated by the time reference speed pattern generator 2 until near the stop position.

At this time, the generation of velocity generates a jerk A according to a predetermined time schedule, and the acceleration B integrating this and the speed command C integrating the acceleration are generated.

Such a time-based speed pattern has an advantage that it is easy to implement and it is easy to arbitrarily adjust the magnitude and shape of the acceleration that has the greatest influence on the ride comfort.

However, as soon as the final position reaches a stop, the remaining position value becomes '0' and at the same time the speed also becomes '0', so that the stop operation is smoothly performed.

Therefore, from the point 'b' approaching the stop position in FIG. 4, the reference speed pattern generation is switched to the distance reference speed pattern, and the speed pattern switching unit 5 controls the switching timing and operation.

In this case, the distance-based speed pattern is generated by the distance-based speed pattern generator 4 and is generally generated by a function as shown in Equation 1 from the remaining distance obtained by subtracting the current car position and the target position as shown in FIG. 3. .

When generating the speed pattern by the equation (1), the acceleration is kept constant to the value of 'a'.

When the car almost reaches the target position, the speed pattern generation equation is changed to the following equation (2) at the point 'c' of FIG. 4 by the switching unit 4c.

Therefore, the acceleration value also decreases as the stop position is reached, and both the speed and the acceleration become '0' at the stop, thereby providing a smooth stop.

5 is a graph for explaining a process of switching from a conventional time reference speed pattern to a distance reference speed pattern.

After measuring the remaining distance to the stop position and the remaining distance reaches the predetermined position (Sa), the time reference speed pattern generator generates a negative jerk value, so that the reference speed value decreases as shown in the Vt curve of FIG. Therefore, let the car start deceleration.

At the same time, the distance-based speed pattern generator generates a speed pattern such as the Vs curve of FIG.

Accordingly, the reference speed pattern is switched from the Vt curve to the Vs curve at the moment when the Vt curve and the Vs curve meet, and the car is controlled by the distance reference speed pattern.

That is, if the deceleration start point (Sa) is correctly selected, the acceleration as well as the reference speed at the time of switching from the Vt curve to the Vs curve are naturally continued.

To this end, the value of the deceleration start point (Sa) is selected by inverting the distance remaining backwards from the stop point.

As described above, when the speed pattern and the acceleration pattern are continuously converted from the time-based speed pattern to the distance-based speed pattern, the deceleration start point (Sa) must be accurately calculated, and the actual speed accurately follows the reference speed pattern (Vt). shall.

However, in practice, there is a case where the acceleration is not continued from the deceleration start point Sa to the acceleration. In order to solve this problem, a method of making the acceleration continuous by changing the reference speed pattern Vt little by little near the deceleration start point Sa is also required. This method is a little different depending on the installation conditions or load conditions requires a precise adjustment during installation and commissioning, there was a problem that a lot of differences in characteristics depending on the skill of the installer.

As described above, the reason why it is difficult to make the speed / acceleration pattern continuous at the same time when switching from the time-based speed pattern to the distance-based speed pattern is because of the time-based speed pattern Vt and the distance-based speed pattern ( Vs) 'is fixed in advance.

Therefore, when the deceleration start point (Sa) is set incorrectly or the actual speed is out of the reference speed, it is difficult to compensate for the mismatch between the two speed patterns at the time of pattern switching.

Accordingly, the present invention has been made to solve the above-mentioned conventional problems, and provides a method for generating an elevator speed pattern such that the speed and acceleration are continuous when switching from the time reference to the distance-based speed pattern regardless of the elevator operation state. Has its purpose.

1 is a block diagram showing a schematic configuration of a general elevator speed pattern generator.

FIG. 2 is a block diagram showing a detailed configuration of the time reference speed pattern generator in FIG.

3 is a block diagram showing a detailed configuration of the distance-based speed pattern generator in FIG.

4 is a graph showing jerks, accelerations, speed patterns, etc., generated from an elevator starting to stopping.

FIG. 5 is a graph for explaining a process of switching from a conventional time reference speed pattern to a distance reference speed pattern. FIG.

Fig. 6 is a graph showing a distance reference speed pattern on a phase plane in which the value is continued based on the final speed / acceleration of the time reference speed pattern according to the present invention.

7 is a flowchart showing a speed pattern generation process from the start of the deceleration to the stop according to the present invention.

The present invention for achieving the above object, the first step of starting the deceleration if the elevator car reaches the target point to determine whether the remaining distance is the same as the stop start point; A second step of switching from the time-based speed pattern generation mode to the distance-based speed pattern generation mode when the acceleration value at the deceleration reaches the maximum acceleration; A third step of switching to a speed pattern according to Equation 2 when the remaining distance gradually decreases and becomes twice the offset value Soff; The remaining distance becomes '0', characterized in that the fourth step of stopping when reaching the stop point.

Hereinafter, an embodiment according to the present invention will be described in detail with reference to the accompanying drawings.

In the present invention, the 'distance reference speed pattern' is determined so that these values are continuous based on the final velocity and acceleration values of the 'time reference speed pattern' without changing the 'distance reference speed pattern'.

FIG. 6 is a graph showing a distance reference velocity pattern on a phase plane in which the value is continuous based on the final velocity / acceleration of the time reference velocity pattern according to the present invention.

At this time, the deceleration start point Sa is predetermined but need not be precise.

The distance-based velocity pattern is the same as Equation 1, but the offset value Soff is not determined. When the magnitude of the acceleration is a, the acceleration value of the time-based velocity pattern is increased to reach a constant value, that is, a The offset value (Soff) is adjusted continuously in the speed pattern.

If the offset value Soff is adjusted, the distance-based speed pattern can move left and right as shown in FIG. 6, and if the two patterns are in contact at one point, the speed and acceleration at the contact point Sb are continuous.

7 is a flowchart illustrating a speed pattern generation process from start of deceleration to stop according to the present invention.

When the car reaches the target point in Fig. 7, it is checked whether the remaining distance S is equal to the stop start distance Sa (S2) and the deceleration starts from the same moment.

That is, Kaga constant speed ( When driving near (S1) and approaching the stop point, it checks whether the remaining distance (S) is equal to the stop start point distance (Sa) (S2) and starts deceleration from the same moment (S3).

The reference acceleration a in the deceleration section S3 is a value obtained by integrating the jerk (da / dt) with time, and the reference speed of the car ( ) Is obtained by integrating the reference acceleration (a) with time.

Standard acceleration (a) is the maximum acceleration ( In step S4, the mode is switched to the time-based speed pattern generation mode S6.

At this time, the offset value Soff is calculated such that the initial speed value of the distance-based speed pattern becomes the last value of the time-based speed pattern.

In the step S5, the last distance value Sb and the speed value of the time reference speed pattern section ( , Which is also the initial distance and velocity value of the distance-based velocity pattern interval.

The process (S5) is S = Sb, in the equation (1) It is obtained by substituting.

By doing so, both the speed and the acceleration of the car are continuous even at the moment when the time-based speed pattern is changed from the distance-based speed pattern.

If the remaining distance gradually decreases and the remaining distance S becomes twice the offset value Soff (S7), the distance-based speed pattern is changed from this time (S9).

At this time, the slope (k) of the process (S9) is obtained in the above process (S8), where Sc and Is the final distance and velocity value of the time-based velocity pattern.

Therefore, S = Sc, It is obtained by substituting.

In this case, the velocity and acceleration of the pattern of Equation 1 and the pattern of Equation 2 are all continuous.

Accordingly, when the remaining distance reaches '0', that is, the stop point (S10), it stops.

As described above, the speed pattern generation method of the elevator of the present invention does not fix the 'distance reference speed pattern', so that these values are continuous based on the final speed and acceleration values of the 'time reference speed pattern' at the time of pattern switching. By generating a 'distance reference speed pattern', the speed and acceleration can be continuous when switching from the time reference to the distance reference speed pattern regardless of the elevator operation state.

Claims (4)

A first step of checking whether the remaining distance is equal to the stop start point when the elevator car reaches the target point and starting deceleration if the elevator car is the same; A second step of switching from the time-based speed pattern generation mode to the distance-based speed pattern generation mode when the acceleration value at the deceleration reaches the maximum acceleration; A third step of switching to a speed pattern according to Equation 2 when the remaining distance gradually decreases and becomes a double value of the offset value Soff; The remaining distance becomes '0', the speed pattern generation method of the elevator characterized in that it comprises a fourth step of stopping when reaching the stop point. (Equation 2) here, Slope, S is the distance. The method of claim 1, wherein the distance-based speed pattern of the first step is generated by Equation 1. (Equation 1) Where a is the acceleration, S is your current location, S _off is the target position. The method of claim 1, wherein the distance-based speed pattern of the second step calculates an offset value Soff such that the initial speed value is the last value of the time-based speed pattern. The elevator according to claim 1, wherein the distance reference speed pattern is not fixed to one, but the distance reference speed pattern is determined so that these values are continuous based on the final speed and acceleration values of the time reference speed pattern. Speed pattern generation method.